Bin positioning device and belt storage system

Abstract

The present invention provides a position positioning device. Its reference image acquisition unit can take multiple shots of the bin code at a predetermined reference position through a camera set at that position, and obtain multiple reference images containing the bin code; the reference bin code acquisition unit can decode the multiple captured reference images and obtain the multiple bin codes they contain, and when the multiple bin codes are all the same, use this bin code as the reference bin code; the predetermined interval acquisition unit can obtain the predetermined bin interval between the predetermined hanging-in position or the predetermined taking-out position and the predetermined bin hole according to the reference bin code and the predetermined bin code. Therefore, it can automatically and accurately obtain the distance that the predetermined bin hole needs to move. Since the bin code at the reference position is taken multiple times, and it is used as the reference bin code only when the bin codes in the multiple captured images are all the same, the determination accuracy of the reference position is high. Correspondingly, the positioning accuracy of the predetermined bin hole is high.

Description

Technical Field

[0001] The present invention belongs to the technical field of goods storage, and particularly relates to a bin positioning device and a belt-type storage system. Background Art

[0002] To solve the problems in the traditional shelf-type storage system, such as cumbersome shelf erection, high cost of shelves and transportation equipment, and large floor area, industries where goods are in the form of soft sheets, such as the clothing industry, have started to adopt an orbital goods storage system. In one of them, a steel belt type track is used to store and convey hangers with clothing. The steel belt type track includes a steel belt provided with a plurality of bin holes, and the hangers are hung into each bin hole for storage.

[0003] Although the existing steel belt type storage system can achieve the storage function and prevent clothing from getting wrinkled, however, there are still multiple problems in the existing steel belt type storage system: First, the bin holes on the steel belt are densely arranged, and the distance between two bin holes is very small, so it is difficult to accurately position to a specified bin hole. In the prior art, usually only a section of the steel belt is positioned, and there are multiple or even a dozen bin holes on one section; Second, due to inaccurate positioning, intelligent management of clothing cannot be achieved. A large amount of manual intervention is required when hanging in and taking out hangers carrying clothing. When hanging in, manual inspection and adjustment are required to avoid the hangers being too close or too dense and the clothing on the hangers colliding with each other, which may affect transportation or even cause the clothing to fall. When taking out, it is even more necessary for manual workers to carefully check the information of the hangers and clothing. Therefore, the degree of automation is not high, and the efficiency of warehousing and outbound is also low.

[0004] Therefore, to improve the efficiency of clothing warehousing and outbound and to be able to further perform intelligent management of clothing, a bin positioning device that can accurately position the bin holes on the steel belt and a steel belt type storage system using such a bin positioning device are needed. Summary of the Invention

[0005] To solve the above problems, a bin positioning device that can accurately position a predetermined bin hole on a storage belt and a belt-type storage system are provided. The present invention adopts the following technical solutions:

[0006] The present invention provides a bin positioning device, which is arranged in a belt-type storage system having a storage belt and a driving mechanism for driving the movement of the storage belt. The storage belt has a plurality of bin holes for hanging goods carriers carrying goods. The bin positioning device is characterized by including: a predetermined bin code acquisition unit, which acquires the bin code of a predetermined bin hole as a predetermined bin code; a reference image acquisition unit, which takes multiple shots of the bin code at this position through a camera arranged at a predetermined reference position to acquire a plurality of reference images; a reference bin code acquisition unit, which decodes the plurality of reference images to acquire a plurality of bin codes, and when the plurality of bin codes are all the same, sets this bin code as the reference bin code; and a predetermined interval acquisition unit, which acquires a predetermined bin interval between a predetermined hanging position or a predetermined taking-out position and the predetermined bin hole according to the reference bin code and the predetermined bin code.

[0007] The bin positioning device provided by the present invention may further have the following technical feature: The reference image acquisition unit acquires at least two reference images, which are respectively denoted as a first reference image and a second reference image. The reference bin code acquisition unit includes: a reference image decoding unit, which decodes the first reference image and the second reference image respectively to obtain a first bin code and a second bin code; a bin code determination unit, which determines whether the first bin code and the second bin code are the same; and a reference bin code setting unit, which sets the first bin code as the reference bin code when the bin code determination unit determines that they are the same.

[0008] The bin positioning device provided by the present invention may further have the following technical feature: The bin positioning device acquires the reference bin code when the belt-type storage system is started.

[0009] The bin positioning device provided by the present invention may further have the following technical feature: A plurality of bin codes are respectively arranged on the storage belt and are spaced corresponding to the plurality of bin holes. The bin code is a two-dimensional code, and the reference bin code acquisition unit includes a two-dimensional code decoder.

[0010] The bin positioning device provided by the present invention may further have the following technical feature: It further includes: a bin movement acquisition unit, which is arranged at a predetermined detection position beside the storage belt, senses and counts the bin holes passing through this position, so as to acquire the moving bin number of the predetermined bin hole; and a predetermined bin determination unit, which determines whether the predetermined bin hole has reached the predetermined hanging position or the predetermined taking-out position according to the predetermined bin interval and the moving bin number.

[0011] The bin positioning device provided by the present invention may further have the following technical feature: The bin movement acquisition unit includes an infrared induction counter. Once the bin hole passes through the predetermined detection position, this infrared induction counter senses the bin hole and performs one count.

[0012] The present invention provides a belt-type storage system, which is characterized in that it includes: a storage device, including at least one storage belt having a plurality of bin holes, for storing a cargo carrier carrying goods; a warehousing device, for warehousing the cargo carrier into the bin hole at a predetermined hanging position; a warehousing device, for warehousing the cargo carrier into the bin hole at a predetermined hanging position; an outbound device, for taking out the cargo carrier from the bin hole at a predetermined taking-out position; and a bin positioning device, which moves the predetermined bin hole to the predetermined hanging position before the hanging operation of the warehousing device, and moves the predetermined bin hole to the predetermined taking-out position before the taking-out operation of the warehousing device, wherein the bin positioning device is the above-mentioned bin positioning device.

[0013] The belt-type storage system provided by the present invention may further have the following technical characteristics, wherein the warehousing device has a hanging mechanism for hanging the cargo carrier into the bin hole at the predetermined hanging position, and the predetermined hanging position corresponds to the setting of the hanging mechanism.

[0014] The belt-type storage system provided by the present invention may further have the following technical characteristics, wherein the outbound device has a guiding and transferring device for taking out the cargo carrier from the bin hole at the predetermined taking-out position, and the predetermined taking-out position corresponds to the setting of the guiding and transferring device.

[0015] Functions and effects of the invention

[0016] According to the bin positioning device of the present invention, since it has a reference image acquisition unit, it can take multiple pictures of the bin code at this position through a camera set at a predetermined reference position, and obtain multiple reference images containing the bin code; since it has a reference bin code acquisition unit, it can decode the multiple reference images taken and obtain the multiple bin codes contained therein, and when the multiple bin codes are all the same, use this bin code as the reference bin code; since it has a predetermined interval acquisition unit, it can obtain the predetermined bin interval between the predetermined hanging position or the predetermined taking-out position and the predetermined bin hole according to the reference bin code and the predetermined bin code, that is, referring to the predetermined reference position, how many bin hole distances the storage belt needs to move to move the predetermined bin hole to the predetermined hanging position or the predetermined taking-out position. As described above, through the bin positioning device of the present invention, the distance that the predetermined bin hole needs to move can be automatically and accurately obtained. Since the bin code at the reference position is taken multiple times, and the bin code in the images taken multiple times is used as the reference bin code only when they are all the same, the determination accuracy of the reference position is high. Correspondingly, the positioning accuracy of the predetermined bin hole is also high. Description of the drawings

[0017] Figure 1 is a structural block diagram of the belt-type storage system in Embodiment 1 of the present invention;

[0018] Figure 2It is the structural diagram of the belt-type storage system in the first embodiment of the present invention;

[0019] Figure 3 It is the schematic structural diagram of the hanger hanging on the storage belt in the first embodiment of the present invention;

[0020] Figure 4 It is the structural diagram of the warehousing equipment in the first embodiment of the present invention;

[0021] Figure 5 It is the structural diagram of the belt-type storage device in the first embodiment of the present invention;

[0022] Figure 6 It is the structural diagram of the belt-type storage device from different angles in the first embodiment of the present invention;

[0023] Figure 7 It is the orthographic projection view of the belt-type storage device in the first embodiment of the present invention;

[0024] Figure 8 It is the structural diagram of the storage belt in the first embodiment of the present invention;

[0025] Figure 9 It is the structural diagram of the storage belt from different angles in the first embodiment of the present invention;

[0026] Figure 10 It is the structural diagram of the outwarehousing equipment in the first embodiment of the present invention;

[0027] Figure 11 It is the structural diagram of the warehouse-out device in the first embodiment of the present invention;

[0028] Figure 12 It is the partial structural diagram of the warehouse-out device in the first embodiment of the present invention;

[0029] Figure 13 It is the working flow chart of obtaining the reference bin code in the first embodiment of the present invention;

[0030] Figure 14 It is the working flow chart of hanging the hanger into the storage belt in the first embodiment of the present invention;

[0031] Figure 15 It is the working flow chart of taking out the hanger from the storage belt in the first embodiment of the present invention;

[0032] Figure 16 It is the structural block diagram of the belt-type storage system in the second embodiment of the present invention;

[0033] Figure 17 It is the working flow chart of obtaining the reference bin code in the second embodiment of the present invention.

[0034] Reference numerals:

[0035] Reservation-type belt storage system 10; warehousing equipment 20; online device 21; storage track for shelving 211; elevator 212; lifting track 213; sliding inclined track 214; blocking device 22; warehousing device 23; hanging mechanism 231; receiving unit 2311; moving unit 2312; rotating unit 2313; separating mechanism 232; storage equipment 30; storage belt 31; belt storage device 32; steel belt storage track 321; installation track 3211; driving mechanism 322; driving motor 3221; driving gear 3222; transmission wheel 3223; limiting wheel 3224; outbound equipment 40; outbound device 41; guiding and transferring mechanism 411; curved rail member 4111; guiding member 4112; leading-in end 4112a; leading-out end 4112b; guiding motor 4113; lever mechanism 412; lever 4121; turntable 4122; turntable motor 4123; offline device 42; lifting mechanism 421; lifting track 4211; outbound elevator 4212; outbound inclined track 422; warehousing control equipment 50; general control device 51; information management device 52; goods information storage section 521; bin information storage section 522; warehousing control device 53; bin positioning device 54; reserved bin code acquisition section 541; detection image acquisition section 542; detection image determination section 543; camera parameter adjustment section 544; reference image acquisition section 545; reference bin code acquisition section 546; reference image decoding unit 5461; bin code determination unit 5462; reference bin code setting unit 5463; warning information generation unit 5464; reserved interval acquisition section 547; bin movement acquisition section 548; reserved bin determination section 549; camera 5410; storage control device 55; outbound control device 56; hanger 100; hook part 101; hanging opening 101a; shoulder support part 102; transition part 103; hanger identification code 1031. Detailed implementation mode

[0036] In order to make the technical means, creative features, achieved purposes and effects of the present invention easy to understand, the following specifically describes the structure of the bin positioning device and the belt storage system of the present invention in conjunction with embodiments and drawings.

[0037] <Embodiment 1>

[0038] Figure 1 It is the structural block diagram of the belt storage system in the embodiment of the present invention.

[0039] Figure 2 It is the structural diagram of the belt storage system in the embodiment of the present invention.

[0040] As Figure 1 and Figure 2As shown in the figure, the belt - type storage system 10 of this embodiment is a belt - type storage system that uses a belt - type storage track to convey and store a goods carrier (hanger) carrying goods (clothes), and includes an inbound device 20, a storage device 30, an outbound device 40, and a storage control device 50.

[0041] The inbound device 20 is used to put the hanger carrying clothes into the storage device 30. The storage device 30 stores (or classifies and stores) the hangers through a storage belt. The outbound device 40 is used to take the hangers out of the storage device 30. The inbound device 20, the storage device 30, and the outbound device 40 are all installed at a predetermined position through a metal frame, and both the inbound device 20 and the outbound device 40 are arranged on the storage device 30. The storage control device 50 controls the operations of the inbound device 20, the storage device 30, and the outbound device 40.

[0042] Figure 3 It is a schematic structural diagram of the hanger hanging on the storage belt in the embodiment of the present invention.

[0043] As Figure 3 shown, the storage belt 31 is composed of a steel belt, and is provided with a plurality of bin holes 311. The hanger 100 includes a hook part 101 at the top, a shoulder part 102 at the bottom for hanging clothes, and a transition part 103 between the hook part 101 and the shoulder part 102. The hook part 101 has a hanging opening 101a, and a hanger identification code 1031 is set on the transition part 103. When the hanger 100 is hung into the bin hole 311, the inner top end of the hook part 101 just contacts the bottom end of the bin hole 311.

[0044] Generally, the distance d1 between the center lines of two adjacent bin holes 311 is set to be slightly larger than the width formed by the front and back sides of the clothes when hanging on the hanger, so that each bin hole 311 can hang clothes. In this embodiment, d1 = 26.52 mm. In addition, in this embodiment, the designed load - bearing capacity of each bin hole 311 is about 2.5 kg (the weight of the hanger + clothes). A plurality of bin codes 312 are also set on the storage belt 31, which are used to uniquely identify the corresponding bin holes 311 in the current system. The bin codes 312 correspond to the bin holes 311 one - to - one and are set on the steel belt above the bin holes 311. The bin code 312 of this embodiment is a two - dimensional code.

[0045] Figure 4 It is a structural diagram of the inbound device in the embodiment of the present invention.

[0046] As Figure 4 shown, the inbound device 20 includes an online device 21, a blocking and releasing device 22, and a warehousing device 23.

[0047] The online device 21 loads the hangers 100 onto the line, and includes an upper storage track 211 for hanging the hangers 100, a hoist 212 for lifting the hangers 100, a lifting track 213, and a sliding inclined track 214. After the hanger 100 is hung on the upper storage track 211, it slides by gravity to the hoist 212, is lifted by the hoist 212 and enters the sliding inclined track 214, and then slides down along the sliding inclined track 214 by gravity. A blocking and releasing device 22 is provided at a position near the end of the sliding inclined track 214.

[0048] The blocking and releasing device 22 releases the hangers 100 one by one. After the hanger 100 is released, it reaches the warehousing device 23 and is hooked by the warehousing device 23.

[0049] The warehousing device 23 hangs the hanger 100 into the corresponding predetermined storage hole. The warehousing device 23 includes a hanging mechanism 231 for receiving the hanger 100 and hanging the hanger 100 onto the storage belt 31, and a separating mechanism 232 for separating the clothing located on the storage belt 31.

[0050] The hanging mechanism 231 includes a receiving unit 2311, a moving unit 2312, and a rotating unit 2313. An RFID reader is provided on the receiving unit, so that it can receive the released hanger 100 and keep it stationary, facilitating the rotating unit 2313 to hook the hanger 100. At the same time, the receiving unit 2311 can read the vehicle identification code of the hanger 100. The rotating unit 2313 includes a robotic arm that can rotate horizontally and a movable hook installed at the end of the robotic arm. Therefore, the rotating unit 2313 can hook the hanger 100 and drive the hanger 100 to rotate so that the hanging opening 101a faces the storage hole 311. The moving unit 2312 can drive the rotating unit 2313 to move horizontally, so that the rotating unit 2313 moves to the blocking and releasing device 22 to pick up the hanger 100, and can move the rotating unit 2313 to the storage belt 31 to hang the hanger 100.

[0051] The separating mechanism 232 has two movable separating plates, which are used to separate the clothing on both sides of the storage hole 311 to both sides, so that the hanging mechanism 231 can smoothly hang the hanger 100.

[0052] After the warehousing equipment 20 warehouses the hanger 100 into the storage equipment 30, the storage equipment 30 stores and manages the hanger 100. As Figure 2 shown, the storage equipment 30 includes three belt-type storage devices 31, namely a reservation belt-type storage device 32a, a warehousing belt-type storage device 32b, and a general belt-type storage device 32c.

[0053] Among them, the pre-storage belt storage device 31a and the warehousing belt storage device 31b are both single-layer belt storage devices, and the two are stacked. The pre-storage belt storage device 31a is located at the lower layer and is used to store the clothing that needs to be retrieved recently; the warehousing belt storage device 31b is located at the upper layer and is used to store the clothing that does not need to be retrieved recently or special types of clothing. The general belt storage device 31c is a spiral belt storage device, which can be used to store clothing that is not used for a long time or for mixed storage of various clothing, etc.

[0054] The structures and working principles of the three belt storage devices 31 are similar. The spiral belt storage device is also wound by a single closed track. Therefore, to more clearly illustrate the structures and cooperation of the warehousing device 20, the storage device 30, and the outwarehousing device 40, the following will take the pre-storage belt storage device 31a as an example for specific description. For the convenience of narration, it will be simply referred to as the belt storage device 31 below.

[0055] Figure 5 It is a structural diagram of the belt storage device in an embodiment of the present invention.

[0056] Figure 6 It is a structural diagram of the belt storage device in different angles in an embodiment of the present invention.

[0057] Figure 7 It is a front projection diagram of the belt storage device in an embodiment of the present invention.

[0058] As Figures 5 - 7 shown, the belt storage device 32 includes a reservation steel belt storage track 321 and a reservation driving mechanism 322. The installation rail 3211 is fixedly installed at a predetermined position through a metal bracket, and the storage belt 31 is movably installed on the installation rail 3211.

[0059] The driving mechanism 322 is used to drive the storage belt 31 to move.

[0060] Figure 8 It is a structural diagram of the storage belt in an embodiment of the present invention.

[0061] Figure 9 It is a structural diagram of the storage belt in different angles in an embodiment of the present invention.

[0062] As Figures 5 - 9As shown in the figure, the driving mechanism 322 includes a driving motor 3221, a driving gear 3222, a plurality of drag reduction wheels 3223, and a plurality of limiting wheels 3224. A plurality of driving holes 313 are formed in the storage belt 31. Among them, the plurality of driving holes 313 located at the driving gear 3222 are respectively engaged with the plurality of teeth of the driving gear 3222. The plurality of drag reduction wheels 3223 and the plurality of limiting wheels 3224 are installed on the storage belt 31 at intervals, and their wheels are movably fitted in the installation rail 3211. The driving motor 3221 drives the driving gear 3222 to rotate, and drives the storage belt 311 to move along the extension direction of the installation rail 3211 through a meshing transmission method. The specific method is the prior art and will not be described in detail here.

[0063] The outbound device 40 is used to take out the hangers 100 from the warehouse.

[0064] Figure 10 It is the structure diagram of the outbound device in the embodiment of the present invention.

[0065] As Figure 10 shown, the outbound device 40 includes a warehouse exit device 41 and a downline device 42. The warehouse exit device 41 is used to move the hangers 100 on the storage belt 31 out of the storage holes 311, and the downline device 42 is used to downline or store the hangers 100 coming from the warehouse exit device 41.

[0066] The downline device 42 has a lifting mechanism 421 and an outbound inclined rail 422. Among them, the lifting mechanism 421 includes a lifting track 4211 connecting the warehouse exit device 41 and the outbound inclined rail 422, and an outbound elevator 4212 for transporting the hangers 100 along the lifting track 4211 to the outbound inclined rail 422.

[0067] Figure 11 It is the structure diagram of the warehouse exit device in the embodiment of the present invention.

[0068] Figure 12 It is a partial structure diagram of the warehouse exit device in the embodiment of the present invention.

[0069] As Figure 11 and Figure 12 shown, the warehouse exit device 41 includes a guiding and transferring mechanism 411 and a lever mechanism 412. The guiding and transferring mechanism 411 is used to guide and transfer the hangers 100 on the storage belt 31 to the lifting track 4211 of the downline device 42, and the lever mechanism 412 is used to push the hangers 100 guided by the guiding and transferring mechanism 411.

[0070] Among them, the guiding transfer mechanism 411 includes a curved rail member 4111, a guiding member 4112, and a guiding motor 4113. The guiding member 4112 is used to transfer the hanger 100 located on the storage belt 31 onto the curved rail member 4111, and the guiding motor 4113 is used to drive the guiding member 4112 to rotate. In addition, the position where the guiding member 4112 is provided, namely the predetermined extraction position, that is Figure 5 the position shown in B2 in

[0071] As Figure 12 shown, the middle part of the guiding member 4112 has a channel for the storage belt 31 to pass through. The guiding member 4112 also has an introduction end 4112a and an extraction end 4112b. The introduction end 4112a is used to introduce the hanger 100 from the storage belt 31 onto the guiding member 4112, and the extraction end 4112b is used to extract the hanger 100 from the guiding member 4112 onto the curved rail member 4111. The position on the storage belt 31 corresponding to the guiding member 411 is the predetermined out-of-warehouse extraction position.

[0072] In the initial state, the guiding member 4112 is in a horizontal position relative to the storage belt 31, that is, the length direction of the guiding member 4112 is substantially parallel to the extending direction of the storage belt 31; when the hanger 100 needs to be taken out, under the drive of the guiding motor 4113, the guiding member 4112 rotates upward to a position that cooperates with the curved rail member 4111, that is Figure 16 the position shown in

[0073] At this time, the hanger 100 is lifted obliquely upward, leaving the storage hole 311, and then enters the curved rail member 4111 along the guiding member 4112, and is then pushed by the lever mechanism 412 to move.

[0074] The warehousing control device 50 controls the operations of the above-mentioned warehousing device 20, storage device 30, and out-of-warehouse device 40. As Figure 1 shown, the warehousing control device 50 includes a general control device 51, an information management device 52, a warehousing control device 53, a position positioning device 54, and an out-of-warehouse control device 55.

[0075] The total control device 51 coordinates and controls the operations of the information management device 52, the warehousing control device 53, the bin positioning device 54, and the outbound control device 55.

[0076] The information management device 52 is used to store various warehousing information, including a goods information storage unit 521 and a bin information storage unit 522.

[0077] The goods information storage unit 521 stores a goods information table.

[0078] Table 1 Goods Information Table

[0079]

[0080] As shown in Table 1, the goods information table stores the vehicle identification code of each hanger 100, the goods identification code of the clothing placed on the hanger 100, and various attribute information of the service.

[0081] The bin information storage unit 522 stores a bin information table.

[0082] Table 2 Bin Information Table

[0083]

[0084] As shown in Table 2, the bin information table stores the bin serial number, the bin code 312 of each bin hole 311 on the storage belt 31, and the vehicle identification code of the hanger 100 hung (or scheduled to be hung) in the bin hole 311. Among them, the bin serial number indicates the position of the bin hole 311 on the storage belt 31, and the bin serial numbers are sorted in sequence along the extension direction of the storage belt 31. In addition, the bin hole 311 can be hung with a hanger 100 or can be vacant, as shown by the bin code CW1002 in Table 2.

[0085] In addition, the information management device 52 also processes the warehousing information, including allocating a corresponding storage bin hole 311 to the hanger 100 according to the attribute information of the clothing when the hanger 100 carrying the clothing is warehoused. Before the hanger 100 carrying the clothing is warehoused, the operator holds a barcode scanner to read the hanger identification code 103 on each hanger 100 to obtain the vehicle identification code, and reads the clothing label on the clothing on the hanger 100 through the barcode scanner to obtain the goods identification code. The information management device 52 stores the read vehicle identification code and goods identification code correspondingly in the goods information table, thereby binding the information of the hanger 100 and the clothing. Further, the information management device 52 allocates a corresponding storage bin hole 311 in the storage device 30 to the hanger 100 according to the goods attribute information in the goods information table and the predetermined goods warehousing rule, that is, stores the vehicle identification code of the hanger 100 and the bin serial number of the allocated storage bin hole 311 (i.e., the predetermined bin x) correspondingly in the bin information table. Subsequently, when receiving a warehousing instruction or an outbound instruction, the information management device 52 sends the predetermined bin x corresponding to the specified hanger 100 to the bin positioning device 54.

[0086] The warehousing control device 53 controls the process of goods warehousing, and controls the warehousing device 20 to hang the hanger 100 into the storage bin hole 311 at the predetermined hanging position.

[0087] The bin positioning device 54 is used to position the predetermined storage bin hole. The bin positioning device 54 includes a predetermined bin code acquisition unit 541, a reference image acquisition unit 545, a reference bin code acquisition unit 546, a predetermined interval acquisition unit 547, a bin movement acquisition unit 548, and a predetermined bin determination unit 549.

[0088] The predetermined bin code acquisition unit 541 is used to acquire the predetermined bin code of the predetermined storage bin hole. In this embodiment, the predetermined bin code acquisition unit 541 queries the corresponding predetermined bin code 312b from the bin information table in the bin information storage unit 53 according to the vehicle identification code, where the vehicle identification code is read by the operator through a handheld barcode scanner when the hanger 100 is warehoused, or is input by the operator through an operation terminal when the hanger 100 is to be outbound.

[0089] The reference image acquisition unit 545 takes multiple pictures of the bin code 312 at this position through a camera 5410 arranged at a predetermined reference position beside the storage belt 31 to obtain a plurality of reference images containing the bin code 312. In this embodiment, the predetermined reference position is set at Figure 7At the position shown in B2, that is, the camera 5410 is set at a position outside the warehousing device 20 and the outwarehousing device 40, and there is no obstruction around the camera 5410, so that the lighting conditions are relatively stable when the camera 5410 takes pictures. At the same time, in this embodiment, the reference image acquisition unit 545 takes pictures three times when the system is started, so the number of reference images is three.

[0090] The reference bin code acquisition unit 546 acquires the reference bin code according to a plurality of reference images, including a reference image decoding unit 5461, a bin code determination unit 5462, and a reference bin code setting unit 5463.

[0091] The reference image decoding unit 5461 decodes the three captured reference images respectively, and obtains three bin codes 312 included in the three reference images. In this embodiment, the bin code 312 is a two-dimensional code, and correspondingly, the reference image decoding unit 5461 is a two-dimensional code decoder.

[0092] The bin code determination unit 5462 determines whether the three decoded bin codes 312 are all the same.

[0093] When the bin code determination unit 5462 determines yes, the reference bin code setting unit 5463 sets the bin code 312 as the reference bin code 312a.

[0094] When the bin code determination unit 5462 determines no, the warning information generation unit 5464 generates a corresponding warning information.

[0095] The predetermined interval acquisition unit 547 acquires the predetermined bin interval between the predetermined hanging position or the predetermined taking-out position and the predetermined bin hole 311b according to the reference bin code 312a and the predetermined bin code 312b, that is, how many bin holes 311 are there between the two.

[0096] The predetermined hanging position corresponds to the setting of the hanging mechanism 231, that is Figure 7 at the position shown in B3; the predetermined taking-out position corresponds to the setting of the guiding transfer device 41, that is Figure 7 at the position shown in B4.

[0097] Specifically, taking the predetermined hanging position as an example, the predetermined interval acquisition unit 547 queries the bin information table according to the reference bin code 312a to obtain the corresponding serial number, denoted as the reference bin i. Similarly, according to the predetermined bin code 312b, the predetermined bin x is obtained. At the same time, the information management device 52 also stores the reference hanging interval D between the predetermined reference position and the predetermined hanging position. Denote the serial number of the bin hole 311 at the predetermined hanging position as the hanging bin a, and denote the total number of bin holes on the storage belt 31 as the total number S. Then, according to the following formula, the above-mentioned predetermined interval bin d can be obtained:

[0098] The hanging position a = the reference position i + the reference hanging interval D;

[0099] The predetermined position interval d = the hanging position a - the predetermined position x.

[0100] In the formula, the predetermined position interval d can be positive or negative. When it is positive, the storage belt 31 moves towards the predetermined conveying direction, and when it is negative, the storage belt 31 moves in the opposite direction.

[0101] Taking the predetermined hanging position as an example, in this embodiment, assume that the reference hanging interval D is 60. At the same time, taking the serial number 0 in Table 2 as the reference position hole 311a, that is, the reference position i = 0, and taking the serial number 20 as the predetermined position hole 311b, that is, the predetermined position x = 20. Therefore, the predetermined position interval d = 20 - 0 + 60 = 80. That is, in order to make the predetermined position hole 311b reach the predetermined hanging position, the storage belt 31 needs to move 80 position holes 311 in the predetermined conveying direction.

[0102] In addition, in the actual control program, in order to achieve a more accurate control effect, actually, the predetermined position interval d is calculated according to the following formula:

[0103] The hanging position a' = (the reference position i + the reference hanging interval D + the total number S) mod the total number S;

[0104] The predetermined position interval d = the hanging position a - the predetermined position x.

[0105] That is, after adding the total number S to the calculated hanging position a, and then dividing by the total number S, taking the remainder as the actual hanging position a', so as to avoid some boundary situations.

[0106] In addition, since there are many position holes 311 on the storage belt 31 and the rotation time for one week is long, therefore, in order to save the conveying time, in the actual control program, the predetermined position interval d is further processed and calculated:

[0107] When the predetermined position interval d > 0:

[0108] Further judge whether d > S / 2. When the judgment is no, the predetermined position interval d remains unchanged; when the judgment is yes, that is, along the predetermined conveying direction (forward rotation direction), the predetermined position hole 311b is far from the predetermined hanging position or the predetermined taking position, and reverse rotation can reach faster. Therefore:

[0109] The predetermined position interval d' = the predetermined position interval d - the total number S.

[0110] Similarly, when the predetermined position interval d < 0:

[0111] Further determine whether d < -S / 2. When the judgment is negative, the predetermined bin interval d remains unchanged; when the judgment is positive, that is, in the opposite direction (reverse direction) of the predetermined conveying direction, the predetermined bin hole 311b is farther from the predetermined hanging position or the predetermined taking position, and forward rotation can reach faster. Therefore:

[0112] The predetermined bin interval d' = the predetermined bin interval d + the total number S.

[0113] Through the above further processing and calculation, the predetermined bin hole 311b can reach the predetermined hanging position or the predetermined taking position faster, and some boundary conditions that may cause program errors are avoided.

[0114] The bin movement acquisition unit 548 includes an infrared induction counter provided at a predetermined detection position beside the storage belt 31. Once the bin hole 311 passes through this position, the infrared induction counter can sense the bin hole 311 and perform a count. The count result is the number of moved bins k of the predetermined bin hole 311b, that is, the predetermined bin hole 311b has moved a distance equivalent to multiple bin holes 311. When the system starts and the storage belt 311 begins to move, the bin movement acquisition unit 548 starts counting. After the storage belt 311 moves a predetermined distance and the reference bin hole 311a reaches the predetermined reference position again, that is, after the storage belt 311 rotates one full week, the bin movement acquisition unit 548 resets the count, that is, sets the number of moved bins k = 0. In addition, according to the rotation direction of the storage belt 311, when the storage belt 311 moves in the predetermined conveying direction, when performing a count, the number of moved bins k + 1; when the storage belt 311 moves in the reverse direction, when performing a count, the number of moved bins k - 1.

[0115] The predetermined bin determination unit 549 determines whether the predetermined bin hole 311b has reached the predetermined hanging position or the predetermined taking position according to the predetermined bin interval d obtained by the predetermined interval acquisition unit 547 and the number of moved bins k obtained by the bin movement acquisition unit 548, that is, determines whether the predetermined bin interval d = the number of moved bins k.

[0116] In the actual control program, for the convenience of program implementation, in fact, the reference bin i is updated in real time according to the number of moved bins k, that is:

[0117] The reference bin i' = the reference bin i + the number of moved bins k.

[0118] Then, the predetermined bin interval d is updated in real time according to the updated reference bin i', and the predetermined bin determination unit 549 actually detects whether the predetermined bin interval d is 0.

[0119] When the judgment is negative, the predetermined bin determination unit 549 further obtains the number of bins currently separated between the predetermined bin hole 311b and the predetermined hanging position or the predetermined taking-out position, that is, the number of bins that the predetermined bin hole 311b still needs to move, denoted as the current separation, i.e.:

[0120] The current separation b = the predetermined bin separation d - the number of moved bins k.

[0121] In the actual control program, since the reference bin i' and the predetermined bin separation d are updated in real time according to the number of moved bins k, the current separation b is thus the real-time predetermined bin separation d.

[0122] The storage control device 55 controls the storage belt drive mechanism 322 according to the positioning result of the bin positioning device 54, driving the storage belt 31 to move, decelerate or stop, so as to accurately move the specified predetermined bin hole 311b to the predetermined hanging position or the predetermined taking-out position according to the above positioning result. Specifically, for the predetermined hanging position:

[0123] When the predetermined bin determination unit 549 determines that it has not been reached and the current separation b ≥ 20 bin holes 311, the storage control device 55 drives the storage belt 31 to move at a predetermined high speed. In this embodiment, the predetermined high speed is 18 m / min - 28 m / min;

[0124] When the predetermined bin determination unit 549 determines that it has not been reached and 5 bin holes 311 ≤ the current separation b < 20 bin holes 311, the storage control device 55 drives the storage belt 31 to move at a predetermined medium speed. In this embodiment, the predetermined medium speed is 12 m / min;

[0125] When the predetermined bin determination unit 549 determines that it has not been reached and the current separation b < 5 bin holes 311, the storage control device 55 drives the storage belt 31 to move at a predetermined low speed. In this embodiment, the predetermined low speed is 6 m / min;

[0126] When the predetermined bin determination unit 549 determines that the predetermined hanging position has been reached, the storage control device 55 controls the storage belt drive mechanism 322 to suspend operation, making the storage belt 31 stationary. At this time, the hanging mechanism 231 can hang the hanger 100 into the bin hole 311 at the predetermined hanging position.

[0127] For the predetermined taking-out position:

[0128] When the predetermined bin determination unit 549 determines that it has not been reached and the current separation b ≥ 20 bin holes 311, the storage control device 55 drives the storage belt 31 to move at a predetermined high speed. In this embodiment, the predetermined high speed is 18 m / min - 28 m / min;

[0129] When the determination by the predetermined bin determination unit 549 is not met and 5 bin holes 311 ≤ current interval b < 20 bin holes 311, the storage control device 55 drives the storage belt 31 to move at a predetermined medium speed. In this embodiment, the predetermined medium speed is 12 m / min;

[0130] When the determination by the predetermined bin determination unit 549 is not met and the current interval b < 5 bin holes 311, the storage control device 55 drives the storage belt 31 to move at a predetermined low speed. In this embodiment, the predetermined low speed is 6 m / min;

[0131] When the predetermined bin determination unit 549 determines that the predetermined extraction position is reached, the storage control device 55 drives the storage belt 31 to continue moving at the predetermined low speed. At this time, the out-of-warehouse device 41 can take out the hanger 100 from the bin hole 311 at the predetermined extraction position.

[0132] The out-of-warehouse control device 56 controls the process of goods out-of-warehouse. When the predetermined bin determination unit 549 determines that the predetermined extraction position is reached, it issues a clothes-picking instruction, thereby controlling the out-of-warehouse device 41 to pick out the hanger 100 from the bin hole 311 at the predetermined extraction position and further transfer the hanger 100 out of the warehouse.

[0133] In addition, in this embodiment, the information management device 52 is a management terminal device (such as a local server or a cloud server) or a part thereof, and the in-warehouse control device 53, the storage control device 54, the out-of-warehouse control device 55, etc. are control terminal devices (such as industrial computers) or parts thereof.

[0134] Figure 13 It is the flowchart of the operation of obtaining the reference bin code in the embodiment of the present invention.

[0135] As Figure 13 shown, based on the above-mentioned bin positioning device 54 and the belt-type storage system 10, in this embodiment, the operation process of obtaining the reference bin code specifically includes the following steps:

[0136] Step S1-1, the staff starts the belt-type storage system 10, and then proceeds to step S1-2;

[0137] Step S1-2, the reference image acquisition unit 545 takes three shots of the bin code at the predetermined reference position through the camera 5410 to obtain three reference images, and then proceeds to step S1-3;

[0138] Step S1-3, the reference image decoding unit 5461 decodes the three reference images respectively to obtain three bin codes, and then proceeds to step S1-4;

[0139] Step S1-4, the bin code determination unit 5462 determines whether the three bin codes are all the same. When the determination result is no, it proceeds to step S1-5; when the determination result is yes, it proceeds to step S1-6;

[0140] Step S1-5, the warning information generation unit 5464 generates corresponding warning information, and then enters the end state;

[0141] Step S1-6, the reference bin code setting unit 5463 sets this bin code as the reference bin code 312a, and then proceeds to step S1-7;

[0142] Step S1-7, the storage control device 55 controls the storage belt drive mechanism 322 to drive the storage belt 31 to move at a predetermined conveying speed, and then enters the end state.

[0143] In the above steps, when the three obtained bin codes are not completely the same, and thus an accurate reference bin code 312a cannot be obtained, corresponding warning information is generated, and the storage belt 31 remains stationary. After the staff observes the stationary phenomenon of the storage belt 31 and this warning information, corresponding adjustments can be made, such as slightly moving the storage belt 31 to move another bin code 312 on the storage belt 31 to a predetermined reference position, and then restarting the belt-type storage system 10 and restarting to obtain the reference bin code 312a.

[0144] Figure 14 It is the flowchart of the work for the hanger to be stored in the embodiment of the present invention.

[0145] As Figure 14 shown, after the belt-type storage system 10 is started and the position positioning device 54 obtains an accurate reference bin code 312a, the work process of storing a hanger 100 into the belt-type storage device 32 specifically includes the following steps:

[0146] Step S2-1, the staff holds the scanner to read the vehicle identification code of the hanger 100 to be stored and the goods identification code of the clothing placed on the hanger 100, and then proceeds to step S2-2;

[0147] Step S2-2, the staff hangs the hanger 100 on the storage track 211, and the hanger 100 slides to the blocking device 22, and then proceeds to step S2-3;

[0148] Step S2-3, the information management device 52 allocates a predetermined bin hole 311b for the hanger 100 according to the attribute information of the clothing and the predetermined storage rule, and sends the corresponding predetermined bin code 312b to the position positioning device 54, and then proceeds to step S2-4;

[0149] Step S2-4: The predetermined bin code acquisition unit 541 acquires the predetermined bin code 312b of the allocated predetermined bin hole 311b according to the vehicle identification code of the hanger 100, and then proceeds to step S2-5;

[0150] Step S2-5: The predetermined interval acquisition unit 547 acquires the predetermined bin interval between the predetermined bin hole 311b and the predetermined hanging position, and then proceeds to step S2-6;

[0151] Step S2-6: The bin movement acquisition unit 548 acquires the number of moving bins of the predetermined bin hole 311b, and then proceeds to step S2-7;

[0152] Step S2-7: The predetermined bin determination unit 549 determines whether the number of moving bins is equal to the predetermined bin interval, that is, whether the predetermined bin hole 311b has reached the predetermined hanging position. When the determination is no, it proceeds to step S2-7a; when the determination is yes, it proceeds to step S2-8;

[0153] Step S2-7a: Wait for a predetermined time, and then return to step S2-7;

[0154] Step S2-8: The storage control device 55 controls the storage drive mechanism 322 to stop working, and the storage belt 31 is stationary, and then proceeds to step S2-9;

[0155] Step S2-9: The warehousing control device 53 controls the blocking and releasing device 22 to release the hanger 100, and the hanger 100 slides to the hanging mechanism 231 and is hooked by the hanging mechanism 231, and then proceeds to step S2-10;

[0156] Step S2-10: The warehousing control device 53 controls the hanging mechanism 231 to hang the hanger 100 into the predetermined bin hole 311b, and then enters the end state.

[0157] Figure 15 It is the flowchart of the work for the hanger to be taken out of the warehouse in the embodiment of the present invention.

[0158] As Figure 15 shown, after the belt-type storage system 10 is started and the position positioning device 54 obtains the accurate reference bin code 312a, the work process of taking out a hanger 100 from the belt-type storage device 32 specifically includes the following steps:

[0159] Step S3-1: The staff inputs the vehicle identification code of the hanger 100 to be taken out through the operation terminal, and then proceeds to step S3-2;

[0160] Step S3-2: The predetermined bin code acquisition unit 541 acquires the corresponding predetermined bin code 312b according to the vehicle identification code, and then proceeds to step S3-3;

[0161] Step S3-3, the predetermined interval acquisition unit 547 acquires the predetermined position interval between the predetermined position hole 311b and the predetermined taking-out position, and then proceeds to step S3-4;

[0162] Step S3-4, the position movement acquisition unit 548 acquires the number of movement positions of the predetermined position hole 311b, and then proceeds to step S3-5;

[0163] Step S3-5, the predetermined position determination unit 549 determines whether the number of moving positions is equal to the predetermined position interval, that is, whether the predetermined position hole 311b has reached the predetermined removal position, and if it is determined to be negative, it proceeds to step S3-5a, and if it is determined to be positive, it proceeds to step S3-6;

[0164] Step S3-5a, wait for a predetermined time, and then return to step S3-5;

[0165] Step S3-6, the storage control device 55 controls the storage drive mechanism 322 to decelerate, driving the belt storage 311 to decelerate to a predetermined outbound speed, and then proceeds to step S3-7;

[0166] Step S3-7, the outbound control device 56 controls the outbound equipment 40 to take out the hanger 100 in the predetermined storage hole 311b, and then enters the end state.

[0167] In the above steps S2-7a and S3-5a, the predetermined waiting time is set as the time for the storage belt 31 to move the spacing distance between two storage holes 311 at a predetermined conveying speed, that is, the predetermined storage hole determination unit 549 makes a determination for each storage hole 311.

[0168] In addition, after the hanger 100 is hung in or taken out, the storage control device 55 controls the storage belt driving mechanism 322 to drive the storage belt 31 to return to the predetermined conveying speed.

[0169] <Example 2>

[0170] Figure 16 It is a structural block diagram of the belt storage system in an embodiment of the present invention.

[0171] like Figure 16 As shown, this embodiment provides a belt storage system 10. Compared with the first embodiment, the difference is that the storage location positioning device 54 also includes a detection image acquisition unit 542, a detection image determination unit 543 and a camera parameter adjustment unit 544.

[0172] The detection image acquisition unit 542 uses a camera 5410 set at a predetermined reference position next to the storage belt 31 to photograph the bin code 312 at the position, and obtains a detection image for detecting the shooting quality of the camera 5410.

[0173] The detection image determination unit 543 determines whether the clarity of the detection image meets the requirements according to a predetermined image clarity requirement. In this embodiment, an existing clarity evaluation algorithm in OpenCV is used to score the detection image. The higher the score, the clearer the image. Correspondingly, the predetermined image clarity requirement is the predetermined clarity score threshold. When the score of the detection image is higher than the predetermined clarity score threshold, it is determined to be yes, that is, the requirement is met.

[0174] When the detection image determination unit 543 determines no, the imaging parameter adjustment unit 544 performs detection and analysis on the detection image according to a predetermined image analysis algorithm, and adjusts the imaging parameters of the camera 5410, such as the focal length, light transmission amount, and shooting resolution, according to the analysis results. In this embodiment, the predetermined image analysis algorithm also uses an existing image analysis algorithm in OpenCV. For example, after algorithm analysis, if the brightness of the detection image is too low, the imaging parameter adjustment unit 544 correspondingly adjusts the light transmission amount of the camera 5410; after algorithm analysis, if the detection image is relatively blurred and the clarity is insufficient, the imaging parameter adjustment unit 544 correspondingly adjusts the focal length of the camera 5410.

[0175] When the detection image determination unit 543 determines yes, the reference image acquisition unit 545 takes multiple shots of the bin code 312 at a predetermined reference position through the same camera 5410 to obtain multiple reference images.

[0176] That is to say, compared with the first embodiment, in this embodiment, first a reference image is taken, automatic detection analysis and imaging parameter adjustment are performed according to the imaging situation of the reference image, and then multiple reference images are taken through the adjusted camera.

[0177] Figure 17 It is the flowchart of the work for obtaining the reference bin code in the embodiment of the present invention.

[0178] As Figure 17 shown, based on the bin position positioning device 54 and the belt-type storage system 10 of this embodiment, the work process of obtaining the reference bin code specifically includes the following steps:

[0179] Step S4-1, the staff starts the belt-type storage system 10, and then enters step S1-2;

[0180] Step S4-2, the detection image acquisition unit 542 takes a picture of the bin code 312 at a predetermined reference position through the camera 5410 to obtain a detection image, and then enters step S1-3;

[0181] Step S4-3, the detection image determination unit 543 determines whether the clarity score of the detection image is greater than the predetermined score threshold. When the determination is no, it enters step S4-4, and when the determination is yes, it enters step S4-5;

[0182] Step S4-4: The camera parameter adjustment unit 544 automatically re-detects and adjusts the shooting parameters of the camera 5410, and then returns to Step S4-2;

[0183] Step S4-5: The reference image acquisition unit 545 takes two shots of the bin code 312 at a predetermined reference position through the camera 5410 to obtain a first reference image and a second reference image, and then proceeds to Step S4-6;

[0184] Step S4-6: The reference image decoding unit 5461 decodes the first reference image and the second reference image respectively to obtain a first bin code and a second bin code, and then proceeds to Step S4-7;

[0185] Step S4-7: The bin code determination unit 5462 determines whether the first bin code and the second bin code are the same. If the determination result is no, it proceeds to Step S4-8; if the determination result is yes, it proceeds to Step S4-9;

[0186] Step S4-8: The warning information generation unit 5464 generates corresponding warning information, and then enters the end state;

[0187] Step S4-9: The reference bin code setting unit 5463 sets the first bin code as the reference bin code 312a, and then proceeds to Step S4-10;

[0188] Step S4-10: The storage control device 55 controls the storage tape drive mechanism 322 to drive the storage tape 31 to move at a predetermined conveying speed, and then enters the end state.

[0189] Functions and effects of the embodiment

[0190] According to the bin positioning device 54 and the belt-type storage system 10 provided in this embodiment, since there is a reference image acquisition unit 545, the bin code at this position can be photographed multiple times by the camera 5410 provided at the predetermined reference position, and multiple reference images containing the bin code can be obtained; since there is a reference bin code acquisition unit 546, the multiple reference images obtained by photographing can be decoded and the multiple bin codes contained therein can be obtained, and when the multiple bin codes are all the same, this bin code is used as the reference bin code 312a; since there is a predetermined interval acquisition unit 547, the predetermined bin interval between the predetermined hanging position or the predetermined taking-out position and the predetermined bin hole 311b can be obtained according to the reference bin code 312a and the predetermined bin code 312b, that is, referring to the predetermined reference position, it is stored how many bin hole 311 distances the storage belt 31 needs to move to move the predetermined bin hole 311b to the predetermined hanging position or the predetermined taking-out position. As described above, through the bin positioning device 54 of this embodiment, the distance that the predetermined bin hole 311b needs to move can be automatically and accurately obtained. Since the bin code at the reference position is photographed multiple times and is used as the reference bin code 312a only when the bin codes in the images photographed multiple times are all the same, the determination accuracy of the reference position is high. Correspondingly, the positioning accuracy of the predetermined bin hole is also high.

[0191] Furthermore, when the predetermined bin determination unit 549 determines that the predetermined bin hole 311b has reached the predetermined hanging position, the storage control device 55 can control the storage drive mechanism 322 to stop working, making the storage belt 31 stationary. At this time, the warehousing device 20 can accurately hang the hanger 100 into the predetermined bin hole 311b; similarly, when the predetermined bin determination unit 549 determines that the predetermined bin hole 311b has reached the predetermined taking-out position, the storage control device 55 can control the storage belt drive mechanism 322 to work at a reduced speed, making the storage belt 31 decelerate to the predetermined out-of-warehouse speed. At this time, the out-of-warehouse device 41 can accurately pick out the hanger 100 from the predetermined bin hole 311b. And since the storage belt 31 is not completely stationary at this time and has a certain moving speed, when the hanger 100 detaches from the predetermined bin hole 311b and enters the out-of-warehouse device 40, it also has a certain moving speed and corresponding inertia. The hanger 100 can be more smoothly out of the warehouse through this inertia and avoid getting stuck.

[0192] In addition, both the reference bin code acquisition unit 546 and the bin movement acquisition unit 548 of this embodiment adopt non-contact shooting and sensing methods, so they do not affect the movement of the storage belt 311 and the conveyance of the hanger 100. The non-contact method also increases the service life of related equipment. At the same time, both the reference bin code acquisition unit 546 and the bin movement acquisition unit 548 of this embodiment are arranged at positions outside the warehousing equipment 20 and the outwarehousing equipment 40, so they do not affect the operation of the warehousing equipment 20 and the outwarehousing equipment 40, and it is also more convenient for maintenance. For the camera, being arranged at a position outside the warehousing equipment 20 and the outwarehousing equipment 40 and having no obstruction around this position can also enable the camera to have relatively more stable lighting conditions, thereby obtaining a relatively better shooting effect.

[0193] In the second embodiment, since the bin positioning device 54 further has a detection image acquisition unit 542, the bin code 312 at this position can be shot by the camera arranged at the predetermined reference position to obtain a detection image; since it further has a detection image determination unit 543, it can determine whether the clarity of the detection image meets the requirements according to the predetermined clarity requirements; since it further has a shooting parameter adjustment unit 544, when the detection image determination unit 543 determines that it does not meet the requirements, the shooting parameters of the camera can be adjusted, and then the reference image acquisition unit 545 can obtain a clearer reference image through the same camera; since the shooting parameters are automatically optimized based on the detection image, an accurate reference bin code 311a can be obtained, that is, the determination accuracy of the reference position is high, and correspondingly, the positioning accuracy of the predetermined bin hole 311b is also high.

[0194] Specifically, the detection image determination unit 543 uses an existing algorithm in OpenCV to score the clarity of the detection image, and determines that the detection image is clear enough when the score is higher than a predetermined score threshold; when the detection image determination unit 543 determines negatively, the camera parameter adjustment unit 544 analyzes the detection image according to a predetermined image analysis algorithm, and then correspondingly adjusts the shooting parameters of the camera 5410 such as the focal length, light flux, and resolution according to the analysis result. Therefore, the images captured by the camera 5410 subsequently can be clearer, thereby improving the recognition rate and recognition accuracy of subsequent two-dimensional codes. Moreover, because the adjustment is targeted, the effect of the adjustment can be guaranteed, and the number of adjustments is small; when the detection image determination unit 543 determines positively, the reference image acquisition unit 545 takes two shots through the same camera to obtain a first reference image and a second reference image containing the bin code at the reference position; the reference bin code acquisition unit 546 decodes the first reference image and the second reference image respectively to obtain a first bin code and a second bin code, and determines whether the first bin code is consistent with the second bin code. When it is determined that the two are consistent, the first bin code is set as the reference bin code 311a. Therefore, a very accurate reference bin code 311a can be obtained as the reference information. Correspondingly, the accuracy of the relative position calculation based on the reference bin code 311a subsequently is also higher. Therefore, the bin positioning device 54 of the embodiment of the present invention can achieve full-automatic and high-precision positioning of the predetermined bin hole 311b.

[0195] The above embodiments are only used to illustrate the specific implementation manners of the present invention, and the present invention is not limited to the description scope of the above embodiments.

[0196] In the above first embodiment, the reference image acquisition unit 545 takes three shots to obtain three reference images. Then, the reference bin code acquisition unit 546 determines whether the two-dimensional codes included in the three reference images are all consistent, and only when the three two-dimensional codes are all consistent, the two-dimensional code is used as the reference bin code 311a, thereby improving the accuracy of the reference bin code 311a. In other solutions of the present invention, the reference image acquisition unit 545 can also take more shots, and then the reference bin code acquisition unit 546 determines whether the two-dimensional codes included in multiple reference images are all consistent, thereby further improving the accuracy.

[0197] In the above second embodiment, when the detection image determination unit 543 determines negatively, the camera parameter adjustment unit 544 analyzes the detection image according to a predetermined image analysis algorithm, and adjusts the shooting parameters such as the focal length and resolution of the camera according to the analysis result, thereby obtaining a clearer captured image. In other solutions of the present invention, the camera parameter adjustment unit 544 can also automatically re-detect the ambient light, etc., automatically adjust the shooting parameters, or select and switch among multiple pre-stored sets of shooting parameters, and the technical effects of the present invention can also be achieved.

[0198] In the above embodiment, the bin code 312 is a two-dimensional code. Correspondingly, the reference image decoding unit 5461 is a two-dimensional code decoder. In other solutions of the present invention, the bin code 312 can also be other types of machine-readable graphics, and the reference image decoding unit 5461 is the corresponding graphics decoder, which can also achieve the technical effects of the present invention.

[0199] In the above embodiment, the bin information table stores the bin codes 312 and bin serial numbers of each bin hole 311. In other solutions of the present invention, the bin code 312 can also directly be the bin serial number, that is, the information contained in the two-dimensional code is the bin serial number. Correspondingly, there is no column for the bin serial number in the bin information table.

[0200] In the above embodiment, the information management device 52 is a management terminal device (such as a local server or a cloud server) or a part thereof, and the warehousing control device 53, the storage control device 54, the outwarehousing control device 55, etc. are control terminal devices (such as industrial computers) or parts thereof. In other solutions of the present invention, different settings and distribution methods can also be adopted.

Claims

1. A bin positioning device is provided in a belt-type storage system having a storage belt and a driving mechanism for driving the movement of the storage belt. The storage belt has a plurality of bin holes for hanging goods carriers carrying goods. Characterized in that: It includes: A predetermined bin code acquisition unit that acquires the bin code of a predetermined bin hole as the predetermined bin code; A reference image acquisition unit that takes multiple shots of the bin code at the position through a camera provided at a predetermined reference position to acquire a plurality of reference images; A reference bin code acquisition unit that decodes the plurality of reference images, acquires the plurality of bin codes, and uses the bin code as the reference bin code when the plurality of bin codes are all the same; And A predetermined interval acquisition unit that acquires a predetermined bin interval between a predetermined hanging position or a predetermined taking-out position and the predetermined bin hole according to the reference bin code and the predetermined bin code.

2. The bin positioning device according to claim 1 ， Characterized in that: Among them, the reference image acquisition unit acquires at least two of the reference images, which are respectively denoted as the first reference image and the second reference image. The reference bin code acquisition unit includes: A reference image decoding unit that decodes the first reference image and the second reference image respectively to obtain a first bin code and a second bin code; A bin code determination unit that determines whether the first bin code is the same as the second bin code; and A reference bin code setting unit that sets the first bin code as the reference bin code when the bin code determination unit determines yes.

3. The bin positioning device according to claim 1, characterized in that: Among them, The bin positioning device acquires the reference bin code when the belt-type storage system is started.

4. The bin positioning device according to claim 1, characterized in that: Among them, The plurality of bin codes are respectively provided on the storage belt and are spaced corresponding to the plurality of bin holes. The bin code is a two-dimensional code. The reference bin code acquisition unit includes a two-dimensional code decoder.

5. The bin positioning device according to claim 1 Characterized in that It further includes: A bin movement acquisition unit that is provided at a predetermined detection position beside the storage belt, senses and counts the bin holes passing through this position, so as to acquire the moving bin number of the predetermined bin hole; And A predetermined bin determination unit that determines whether the predetermined bin hole reaches the predetermined hanging position or the predetermined taking-out position according to the predetermined bin interval and the moving bin number.

6. The bin positioning device according to claim 5, characterized in that: Among them, The bin movement acquisition unit includes an infrared induction counter. Once the bin hole passes through the predetermined detection position, the infrared induction counter senses the bin hole and performs one count.

7. A belt-type storage system Characterized in that It includes: A storage device including at least one storage belt having a plurality of bin holes for storing goods carriers carrying goods; An inbound device for inbounding the goods carrier into the bin hole at a predetermined hanging position; An outbound device for taking out the cargo carrier from the bin hole located at the predetermined taking-out position; and A bin positioning device for moving the predetermined bin hole to the predetermined hanging position before the hanging operation of the inbound device, and moving the predetermined bin hole to the predetermined taking-out position before the taking-out operation of the inbound device, wherein the bin positioning device is the bin positioning device according to any one of claims 1-6.

8. The belt-type storage system according to claim 7, characterized in that: wherein, The inbound device has a hanging mechanism for hanging the cargo carrier into the bin hole located at the predetermined hanging position, The predetermined hanging position corresponds to the setting of the hanging mechanism.

9. The belt-type storage system according to claim 7, characterized in that: wherein, The outbound device has a guiding and transferring device for taking out the cargo carrier from the bin hole located at the predetermined taking-out position, The predetermined taking-out position corresponds to the setting of the guiding and transferring device.

Images